Development of Hybrid Flight Simulator with Multi Degree-of-Freedom Robot

Development of Hybrid Flight Simulator with Multi Degree-of-Freedom Robot Kakizaki Kohei, Nakajima Ryota, Tsukabe Naoki Department of Aerospace Engineering Department of Mechanical System Design Engineering Tohoku University

Background (1) Unsteady Aerodynamics The field of use of aircrafts are dramatically expanding Unmanned aerial vehicles (UAVs) have a capability of acrobatic flights (Hovering, Turn-around flight, Post-stall maneuver) The conventional linear theory based on stability derivatives can not be applied Unsteady aerodynamics UAV (Uchiyama Lab, Tohoku univ.) Post-stall maneuver 2

Background (2) Experimental Fluid Dynamics (EFD) Dynamic Wind-tunnel testing (DWT) Free Flight Flight Dynamics Calculate behavior of the aircraft MPM(DNW) Dutch Roll Motion EFD + Flight Dynamics = Hybrid Motion Simulation Hybrid Motion Simulation Merge experimental fluid dynamics and numerical simulation Arbitrary flights can be demonstrated in the wind tunnel 3

Past Researches Contact phenomena of a satellite Only contact phenomena are taken out as a physical model Since movement of a model is determined by numerical computation, mass, moment of inertia, etc. can be set up arbitrarily This approach can replace other physical models Hybrid Flight Simulation Numerical model Contact phenomena Aerodynamic phenomena New application Physical model 4

Objectives Development of Hybrid Flight Simulator with Multi-Degree-of Freedom Robot Reproduce simulated flight tests in Wind-tunnel using a multi degree-of-freedom robot 1-DOF Hybrid motion simulation ex.) Wing rock(limited 1-DOF) Multi-DOF Hybrid motion simulation ex.) Wing rock, Dutch roll 5

Hybrid Motion Simulator Outline of Hybrid Motion Simulator EFD (Experimental model) Flight dynamics (Numerical model) Experimental model Servo mechanism Model positioning Numerical model Dynamics calculation position and attitude Force and Torque(F/T) Sensor Measuring force and torque 6

1-DOF Hybrid Motion Simulation (1) 1-DOF Wing Rock Motion (Free Roll) Wing Rock is a dynamic behavior of delta wing model at high angle of attack Self-induced limit cycle oscillation f=3.2 [Hz] AoA=35 [deg], u=10 [m/s] Free Roll Device Free Roll(Wing Rock) 7

1-DOF Hybrid Motion Simulation (2) 1-DOF Wing Rock Motion (Hybrid Motion Simulation) Compared Hybrid Wing rock motion with free roll motion AoA=35 [deg], u=10 [m/s] f=1.15 [Hz] Rolling motion device Need to increase the accuracy Hybrid Motion Simulation 8

Cause of the problem Process hold-up time of Hybrid Motion Simulator Calculation delay Servo mechanism Model positioning Dynamics calculation position and attitude Sensor delay F/T Sensor Measuring force and torque Servo delay 9

1-DOF Hybrid Motion Simulation (3) Phase-Lead Compensation Phase-lead compensation (PLC) is introduced Compensate for the sensor delay AoA=35 [deg], u=10 [m/s] f=1.95 [Hz] Moment Compensated Moment Sensor Dynamics Phase-Lead Compensator Compensate for other delays Hybrid Motion Simulation(PLC) 10

Multi-DOF Hybrid Motion Simulation Multi-DOF Using 6-DOF robot manipulator Evaluates as compared with R/C model Hybrid Motion Simulation Numerical model Get flight data from R/C model Experimental model Evaluate model position & attitude Exercise experimental model Dynamics simulation Measure aerodynamic force 11

Development of 6-DOF Robot Manipulator HEXA-X2 Uchiyama Lab. in Tohoku University developed HEXA-X2 HEXA-X2 is a Parallel link robot manipulator The merit of HEXA-X2 Supported by multiple arms High rigidity Light weight arms High frequency PA-10 (Serial Robot) HEXA-X2 (Parallel Robot) 12

Summary and Future Works Summary We are developing Hybrid Motion Simulator 1-DOF Hybrid Motion Simulator is feasible HEXA-X2 is under development for Hybrid Flight Simulator Future Works Get the flight data from R/C model Model position, attitude, velocity (IMU, GPS) Wind tunnel testing Validation of Hybrid flight simulation Visualization Hybrid Flight Simulator 14

Thank you for your attentions! 15

Significance of Hybrid Flight Simulator The simulation in an actual phenomenon The power from a fluid phenomenon is measured using a physical model The action of an aircraft is reproducible The Hybrid Motion Simulator can reproduce an action, unlike a compulsive shaking test A dangerous action is safely reproducible Since the aircraft is moved using a robot manipulator, there no worries about crash and contact which may take place by actual flight 16

Flight Test (2) R/C model Propeller model EDF(Electric Duct fan) model length:682 [mm] span:480 [mm] length:675 [mm] span:520 [mm] Get Flight Data Model Position Model attitude Velocity Gathering data from IMU & GPS 17

Flow Visualization for dynamic model (1) Laser light sheet method Flow phenomena upper the model can be visualized 18

Flow Visualization for dynamic model (2) PSP (Pressure Sensitive Paint) PSP is a pressure distribution sensor Cp with temp and def correction Cp with temp and def correction Pressure field on the model can be visualized 2 1 Cp with temp and def correction 2 1 0-1 -2-3 -4-5 0 Cp with temp correction -1-2 -3-4 -5 Cp 2 1 0-1 -2-3 -4-5 -6-7 -8-9 -6-6 f = 0 [deg] f = 10 [deg] f = 20 [deg] -7-7 19

Flow Visualization for dynamic model (3) Fluorescence minituft method Fluorescence monofilaments are glued to the model surface Flow direction and unsteady region on the model surface can be visualized 20

Phase lead compensation PLC for the sensor delay Identifies from the Bode diagram of a force/torque sensor The transfer function of a dead time element Bode diagram Curve fitting by a dead time element 21

Phase lead compensation PLC for the sensor delay Identifies from the Bode diagram of a force/torque sensor The transfer function of a dead time element Moment Compensated Moment Sensor Dynamics Phase-Lead Compensator Approximation by a dead time element 22

Phase lead compensation The PLC result of sensor delay Rolling moment coefficient Limit cycle Angular acceleration 23

Unmanned Aerial Vehicle

UAVs developed in Uchiyama Lab. Quad rotor UAV Tail-sitter UAV CCV Workshop on Next Generation Transport Aircraft 25

Tail-Sitter VTOL UAV Level flight Vertical takeoff Vertical landing Advantages: Long range flight performance Simple mechanism Disadvantages: Difficulty in canceling rotor reaction moment in vertical mode Workshop on Next Generation Transport Aircraft 26

Transition from Level Flight to Hovering Workshop on Next Generation Transport Aircraft 27

Transition from Hovering to Level Flight Workshop on Next Generation Transport Aircraft 28

Trajectory Tracking in Hover Mode Workshop on Next Generation Transport Aircraft 29

Post-stall Maneuver:Minimum distance turn Workshop on Next Generation Transport Aircraft 30

Post-stall Maneuver:Constant altitude turn Workshop on Next Generation Transport Aircraft 31

CCV ( Control Configured Vehicle ) Advantages: Turn without rolling ultralow flying Disadvantage: Computer assist is absolutely imperative Turn of general airplane Turn of CCV Vertical canard With rolling movement Workshop on Next Generation Transport Aircraft Without rolling movement 32

Lateral Translation Flight Workshop on Next Generation Transport Aircraft 33

Free-Floating Space Robot When the robot arm moves, the reaction force affects the attitude of the satellite. Workshop on Next Generation Transport Aircraft 34

Hardware-in-the-loop Simulator Physical Model + Numerical Model Simulation on Ground for Space Application Precise Reproduction of Complicated Physical Phenomena Workshop on Next Generation Transport Aircraft 35

Problem in Hardware-in-the-loop Simulation Time delay exists due to servo delay and low pass filter Energy Increase during contact or impact Instability of the system and unrealistic physical phenomena Dynamics Calculation Reference Position Servo Position Dead Time τ Delay Time Compensation Force F/T Sensor -K Delay time compensation Workshop based on Next Generation the Transport coefficient of restitution Aircraft 36

Experimental Setup and Wind Tunnel Low-Turbulence Heat-Transfer Wind Tunnel @Tohoku Univ. Model : Single-path return-flow type Measurement section: open 2nd nozzle opposite side distance: 0.81m Length: 1.42 m Flow speed: 5 70 m/s Scaled airplane model: Delta Wing Sweepback angle : 80 [ ] Chord length : 300 [mm] Thickness : 2 [mm] Leading edge : 45 [ ] sharp edge Material : A2017 Workshop (Duralmin) on Next Generation Transport Aircraft 37

System Configuration Physical Model F/T Sensor Numerical Model Dynamics Calculation Manipulator: Servo Mechanism Motion Demonstration Workshop on Next Generation Transport Aircraft 38

Verification of Hybrid Motion Simulator Aerodynamic phenomena in uniaxis Wing Rock Damped Vibrations Conventional Method Free motion around one axis by using bearing WingRock Phanomena Asai/Nagai Lab@Tohoku Univ. Comparison Nondimensional Frequency (Strouhal Number) Proposed Method Motion demonstrated by manipulator system Workshop on Next Generation Transport Aircraft Damped Vibration Motion demonstrated by Hybrid Motion 39